From 0e7c45eb0238bf83cbe980cb7dcefecde7612254 Mon Sep 17 00:00:00 2001
From: kazu <kazu@suse.nyan.cat>
Date: Tue, 26 Apr 2016 15:14:10 +0200
Subject: [PATCH] switched random generator

---
 code/particles/MyInitializer.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/code/particles/MyInitializer.h b/code/particles/MyInitializer.h
index 79ea62e..4fd9be7 100755
--- a/code/particles/MyInitializer.h
+++ b/code/particles/MyInitializer.h
@@ -5,6 +5,7 @@
 #include "MyState.h"
 
 #include <Indoor/grid/Grid.h>
+#include <Indoor/math/Distributions.h>
 
 class MyInitializer : public K::ParticleFilterInitializer<MyState> {
 
@@ -35,13 +36,13 @@ public:
 
 	virtual void initialize(std::vector<K::Particle<MyState>>& particles) override {
 
-		std::minstd_rand gen;
-		std::uniform_int_distribution<> dist(0, grid.getNumNodes());
-		std::uniform_real_distribution<float> distHead(0, M_PI*2);
+		Distribution::Uniform<int> distIdx(0, grid.getNumNodes()-1);
+		Distribution::Uniform<float> distHead(0, M_PI*2);
 
 		for (K::Particle<MyState>& p : particles) {
 
-			MyGridNode& n = grid[dist(gen)];
+			const int idx = distIdx.draw();
+			MyGridNode& n = grid[idx];
 
 			//p.state.pCur = Point3(x_cm, y_cm, z_cm);
 			//GridPoint gp(p.state.pCur.x, p.state.pCur.y, p.state.pCur.z);
@@ -51,7 +52,7 @@ public:
 			p.state.walkState.node = &n;
 
 			p.state.pOld = p.state.pCur;
-			p.state.walkState.heading = distHead(gen);
+			p.state.walkState.heading = distHead.draw();
 			p.state.hPa = 0;
 
 		}